4-D / RCS Reference Model Architecture for Unmanned Ground Vehicles. Albus, J., S. In Proceedings of SPIE, volume 3693, pages 1-10, 1999.
4-D / RCS Reference Model Architecture for Unmanned Ground Vehicles [pdf]Paper  bibtex   
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 title = {4-D / RCS Reference Model Architecture for Unmanned Ground Vehicles},
 type = {inProceedings},
 year = {1999},
 keywords = {4-d,intelligent control,rcs,real-time control architecture,unmanned ground vehicles},
 pages = {1-10},
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}
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